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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include <opencv2/core.hpp>
#include <opencv2/rgbd.hpp>
#include "opencv2/core/utility.hpp"
#include "opencv2/core/private.hpp"
namespace cv
{
CV_INIT_ALGORITHM(DepthCleaner, "RGBD.DepthCleaner",
obj.info()->addParam(obj, "window_size", obj.window_size_);
obj.info()->addParam(obj, "depth", obj.depth_);
obj.info()->addParam(obj, "method", obj.method_))
CV_INIT_ALGORITHM(RgbdNormals, "RGBD.RgbdNormals",
obj.info()->addParam(obj, "rows", obj.rows_);
obj.info()->addParam(obj, "cols", obj.cols_);
obj.info()->addParam(obj, "window_size", obj.window_size_);
obj.info()->addParam(obj, "depth", obj.depth_);
obj.info()->addParam(obj, "K", obj.K_);
obj.info()->addParam(obj, "method", obj.method_))
CV_INIT_ALGORITHM(RgbdPlane, "RGBD.RgbdPlane",
obj.info()->addParam(obj, "block_size", obj.block_size_);
obj.info()->addParam(obj, "min_size", obj.min_size_);
obj.info()->addParam(obj, "method", obj.method_);
obj.info()->addParam(obj, "threshold", obj.threshold_);
obj.info()->addParam(obj, "sensor_error_a", obj.sensor_error_a_);
obj.info()->addParam(obj, "sensor_error_b", obj.sensor_error_b_);
obj.info()->addParam(obj, "sensor_error_c", obj.sensor_error_c_))
CV_INIT_ALGORITHM(RgbdOdometry, "RGBD.RgbdOdometry",
obj.info()->addParam(obj, "cameraMatrix", obj.cameraMatrix);
obj.info()->addParam(obj, "minDepth", obj.minDepth);
obj.info()->addParam(obj, "maxDepth", obj.maxDepth);
obj.info()->addParam(obj, "maxDepthDiff", obj.maxDepthDiff);
obj.info()->addParam(obj, "iterCounts", obj.iterCounts);
obj.info()->addParam(obj, "minGradientMagnitudes", obj.minGradientMagnitudes);
obj.info()->addParam(obj, "maxPointsPart", obj.maxPointsPart);
obj.info()->addParam(obj, "transformType", obj.transformType);
obj.info()->addParam(obj, "maxTranslation", obj.maxTranslation);
obj.info()->addParam(obj, "maxRotation", obj.maxRotation);)
CV_INIT_ALGORITHM(ICPOdometry, "RGBD.ICPOdometry",
obj.info()->addParam(obj, "cameraMatrix", obj.cameraMatrix);
obj.info()->addParam(obj, "minDepth", obj.minDepth);
obj.info()->addParam(obj, "maxDepth", obj.maxDepth);
obj.info()->addParam(obj, "maxDepthDiff", obj.maxDepthDiff);
obj.info()->addParam(obj, "maxPointsPart", obj.maxPointsPart);
obj.info()->addParam(obj, "iterCounts", obj.iterCounts);
obj.info()->addParam(obj, "transformType", obj.transformType);
obj.info()->addParam(obj, "maxTranslation", obj.maxTranslation);
obj.info()->addParam(obj, "maxRotation", obj.maxRotation);
obj.info()->addParam<cv::RgbdNormals>(obj, "normalsComputer", obj.normalsComputer, true, NULL, NULL);)
CV_INIT_ALGORITHM(RgbdICPOdometry, "RGBD.RgbdICPOdometry",
obj.info()->addParam(obj, "cameraMatrix", obj.cameraMatrix);
obj.info()->addParam(obj, "minDepth", obj.minDepth);
obj.info()->addParam(obj, "maxDepth", obj.maxDepth);
obj.info()->addParam(obj, "maxDepthDiff", obj.maxDepthDiff);
obj.info()->addParam(obj, "maxPointsPart", obj.maxPointsPart);
obj.info()->addParam(obj, "iterCounts", obj.iterCounts);
obj.info()->addParam(obj, "minGradientMagnitudes", obj.minGradientMagnitudes);
obj.info()->addParam(obj, "transformType", obj.transformType);
obj.info()->addParam(obj, "maxTranslation", obj.maxTranslation);
obj.info()->addParam(obj, "maxRotation", obj.maxRotation);
obj.info()->addParam<cv::RgbdNormals>(obj, "normalsComputer", obj.normalsComputer, true, NULL, NULL);)
bool
initModule_rgbd(void);
bool
initModule_rgbd(void)
{
bool all = true;
all &= !RgbdNormals_info_auto.name().empty();
all &= !RgbdPlane_info_auto.name().empty();
all &= !RgbdOdometry_info_auto.name().empty();
all &= !ICPOdometry_info_auto.name().empty();
all &= !RgbdICPOdometry_info_auto.name().empty();
return all;
}
}